Hierarchical combined variable configuration spacecraft information bus control system

Abstract

An information bus control system based on a hierarchical combined type variable configuration spacecraft comprises an assembly layer bus subsystem, a cabin section layer bus subsystem and a spacecraft subsystem bus subsystem, in order to improve the reliability of the management function of a combined type variable configuration spacecraft assembly, the assembly is provided with a main control spacecraft and a standby control spacecraft, and normally, the main control spacecraft is responsible for combination data fusion and combination management. When the control right of the main control spacecraft fails, the combination management function needs to be switched from the main control spacecraft to the standby control spacecraft, function reconstruction of the combination across the spacecrafts is achieved, and the problems of switching and reconstruction of the combination management function of the combined variable configuration spacecraft among different spacecrafts are solved.

Description

Technical Field

[0001] The invention relates to a hierarchical combined variable configuration spacecraft information bus control system, belonging to the technical field of system function reconstruction design across spacecrafts. Background Art

[0002] A single spacecraft is a single aircraft flying in orbit, and does not involve combined multi-spacecraft data management. A spacecraft is generally a combined spacecraft formed by assembling two aircraft in orbit. This type of combined multi-spacecraft consists of a fixed and clear active aircraft and a passive aircraft, which are rendezvoused and docked through a specific docking port to form a combination of two spacecraft. This type of multi-spacecraft combination has the characteristics of clear spacecraft types, a single combination configuration, and is not expandable. At the same time, it is impossible to switch and reconstruct the combination function between the active aircraft and the passive aircraft during the on-orbit flight.

[0003] The functions, scales, and types of current spacecraft are diverse. A single spacecraft can be formed into a larger, more complex, and more variable combination spacecraft through on-orbit rendezvous and docking, assembly and construction. This type of combined multi-spacecraft often has the characteristics of many types of spacecraft, variable and unclear combination configurations, and the combination configuration will vary greatly with the number, type, and docking location of spacecraft. In order to adapt to the characteristics of many types of spacecraft and variable configurations, the combination data management of this type of combined multi-spacecraft needs to solve the problem of autonomous networking among multiple spacecraft. At the same time, in order to avoid the function of this type of spacecraft combination being formed by a simple collection of the functions of each spacecraft, in order to realize the functional integration of the combination after networking, it is necessary to solve the system reconstruction problem of this type of combination across spacecraft.

[0004] The current combined multi-spacecraft assembly data management system and method can only solve the spacecraft data management problem of clear spacecraft types, single assembly configuration and non-scalable spacecraft, but cannot solve the assembly data fusion management problem of multiple types of spacecraft, multiple on-orbit changing configurations, frequent docking and separation, flexible and scalable multi-spacecraft autonomous networking and reconstruction. At the same time, the networking and reconstruction in the civil field mainly adopts the corresponding networking methods for specific network types, which cannot solve the problem of combined multi-spacecraft autonomous networking and reconstruction under the characteristics of different types of spacecraft, different data systems, frequent separation and docking, and variable on-orbit configurations. Summary of the invention

[0005] The technical problem solved by the present invention is: in view of the problem that autonomous networking and post-networking functional reconstruction among multiple spacecraft in different combination configurations during on-orbit assembly and construction of spacecraft in the current existing technology are difficult to achieve, a hierarchical combined variable configuration spacecraft information bus control system is proposed.

[0006] The present invention solves the above technical problems by the following technical solutions:

[0007] A hierarchical combined variable configuration spacecraft information bus control system, comprising a combined body layer bus subsystem, a compartment layer bus subsystem, and a spacecraft subsystem bus subsystem;

[0008] The complex layer bus subsystem converts and comprehensively manages the different data sent by or to each spacecraft according to the data system of each spacecraft, and provides bus support for data interaction between the complexes composed of various spacecraft to realize data communication between spacecraft with different data systems;

[0009] The module-level bus subsystem sets up the module buses inside each spacecraft according to the number and scale of the spacecraft subsystems in the spacecraft complex, receives the communication data converted by the complex-level bus subsystem, and realizes the data communication and control of the internal interruptions of each spacecraft in the module bus;

[0010] The spacecraft subsystem bus subsystem receives the communication data transmitted from the cabin layer bus subsystem according to the number of terminals corresponding to the subsystems in each spacecraft, and realizes data communication and control of all terminals of each spacecraft subsystem within the subsystem bus.

[0011] The combined body layer bus subsystem includes each docked spacecraft and a master control spacecraft. Each spacecraft is provided with a spacecraft data management device for data system conversion and data information interaction with other heterogeneous spacecraft, and for managing and controlling all data information;

[0012] The master control spacecraft adopts a preset 1553B bus topology design to form a combined layer bus. Each layer of the bus supports the on-orbit docking and data control of two spacecraft. The spacecraft data management device of the master control spacecraft processes the grid connection of all combined layer buses and performs overall control of each combined layer bus. The master control spacecraft supports the grid connection control of two heterogeneous spacecraft at the same time. The master control spacecraft includes two control states, namely, the bus terminal resistance control state without docked spacecraft and the corresponding interface control state with docked spacecraft.

[0013] The docked spacecraft, including spacecraft with the same data system as the main control spacecraft and spacecraft with different data system from the main control spacecraft, are all controlled by the main control spacecraft. After docking, the spacecraft with the same data system as the main control spacecraft forms a combination with the main control spacecraft. The data management device of the docked spacecraft is directly connected to the combination layer bus and serves as a bus terminal.

[0014] After docking, a spacecraft with a data system different from that of the main control spacecraft forms an assembly with the main control spacecraft. The data management device of the docked spacecraft is indirectly connected to the assembly layer bus and serves as a bus terminal.

[0015] The data management devices of the spacecraft assembly have one and only one bus address. Through the inspection and identification of the unique bus address of the master control spacecraft assembly by the master control spacecraft assembly, the master control spacecraft can realize autonomous identification and autonomous data control of various types of spacecraft under different spacecraft configurations of the assembly.

[0016] When the master spacecraft and the docked spacecraft are directly or indirectly connected to the grid, the master spacecraft data management device monitors the docking marks of each interface on the master spacecraft in real time. The docking marks change between the state of no docked spacecraft and the state of docked spacecraft according to the increase or decrease of the configuration of the combination after docking.

[0017] After the master control spacecraft data management device monitors in real time that the docking standard of any docking interface has changed, it switches the control state of the master control spacecraft to the control state of the corresponding interface with the docked spacecraft, and inspects the direct grid-connected bus and indirect grid-connected bus of the current docking interface, and realizes autonomous identification of the newly docked spacecraft through the newly added bus terminal address, and obtains the assembly configuration elements of the newly docked spacecraft, including the docking interface position, the docking bus type and level, and the spacecraft type.

[0018] When there is a new docked spacecraft, the data management device address of the new docked spacecraft is added as the new bus terminal address under the conditions of direct grid connection and indirect grid connection;

[0019] After realizing autonomous identification of the newly docked spacecraft through the newly added bus terminal address, if the autonomous identification result is that the newly docked spacecraft is directly connected to the master spacecraft through any combination bus, the data management device of the master spacecraft will communicate autonomously with the data management device of the newly docked spacecraft through the current combination bus to realize adaptive networking of the spacecraft combination for the newly docked spacecraft.

[0020] After realizing autonomous identification of the newly docked spacecraft through the newly added bus terminal address, if the autonomous identification result is that the newly docked spacecraft is indirectly connected to the master spacecraft through any combination bus, the data management device of the master spacecraft will autonomously communicate with the data management device of the newly docked spacecraft through the current combination bus and the data conversion device of the master spacecraft, so as to realize adaptive networking of the spacecraft combination for the newly docked spacecraft.

[0021] After the spacecraft assembly completes the adaptive networking of the newly docked spacecraft, the assembly configuration and control state of the spacecraft assembly are determined through the data management device of the master control spacecraft, and the overall data management and control of the spacecraft assembly is realized under the adjusted assembly configuration and control state.

[0022] The spacecraft assembly is controlled by a dynamic management strategy to realize assembly function reconstruction. After any spacecraft docks, the spacecraft assembly is converted from a single-machine mode of the master spacecraft to a two-machine combination mode of the master spacecraft and the newly docked spacecraft, completing the dynamic reconstruction of the spacecraft assembly. After the current spacecraft evacuates, the spacecraft assembly is switched from the two-machine combination mode to the single-machine mode again.

[0023] When the two spacecraft complete docking at the same time, the spacecraft assembly is converted from the single-vessel mode of the master spacecraft to the three-vessel combination mode of the master spacecraft and the newly docked spacecraft, completing the dynamic reconstruction of the spacecraft assembly; when any of the newly docked spacecraft evacuates, the spacecraft assembly is converted from the three-vessel combination mode to the two-vessel combination mode of the master spacecraft and the docked spacecraft that has not evacuated.

[0024] When the data management device of the master spacecraft fails, the working mode of the combination is switched from the three-device combination mode to the master spacecraft safety mode, and the dynamic reconstruction of the master spacecraft to any docked spacecraft is realized through the bus dynamic management strategy; when the data management device of the master spacecraft is restored, the working mode of the combination is switched from the master spacecraft safety mode to the three-device combination mode, and the dynamic reconstruction of any docked spacecraft to the master spacecraft is realized through the bus dynamic management strategy;

[0025] When the data management device of any docked spacecraft fails, the working mode of the combination switches from the three-device combination mode to the docked spacecraft safety mode, and the dynamic reconstruction of any docked spacecraft to the master spacecraft is realized through the bus dynamic management strategy; when the data management device of any docked spacecraft is restored, the working mode of the combination switches from the docked spacecraft safety mode to the three-device combination mode, and the dynamic reconstruction of the docked spacecraft safety mode to the three-device combination mode is realized through the bus dynamic management strategy;

[0026] When the number of docked spacecraft is greater than 2, after any new docked spacecraft docks, the assembly working mode switches from the three-device assembly mode to the next assembly mode. Through the bus dynamic management strategy, the assembly realizes dynamic reconstruction from the three-device assembly mode to the next assembly mode.

[0027] The advantages of the present invention compared with the prior art are:

[0028] (1) The present invention provides a hierarchical combined variable configuration spacecraft information bus control system, which takes into account the data management requirements of the assembly layer, the compartment layer and the subsystem layer, and adapts to the requirements of multiple variable configuration construction, multiple data systems and interface matching, and multi-level data interaction. It can solve the problem of high reliability and flexibility of the data management system architecture of the combined variable configuration spacecraft assembly. Through assembly and construction means such as rendezvous and docking and transfer, after the newly docked spacecraft completes the docking task at the corresponding berthing port of the assembly, the multi-spacecraft assembly autonomously identifies and networks the newly docked aircraft, so as to realize the assembly fusion management under the new configuration, reduce the dependence on ground disposal, and solve the problem of autonomous networking between the assembly spacecraft;

[0029] (2) After the present invention uses the combination to form a network for the newly docked aircraft, in order to avoid the data management function of the spacecraft combination of this type being formed by a simple collection of the functions of each spacecraft and to achieve functional fusion of the combination after networking, the problem of system function reconstruction across spacecraft of this type of combination is solved. At the same time, the combination is provided with a master control spacecraft and a backup control spacecraft. Normally, the master control spacecraft is responsible for the combination data fusion and combination management, which can improve the management function reliability of the combined variable configuration spacecraft combination. When the control right of the master control spacecraft fails, the combination management function needs to be switched from the master control spacecraft to the backup control spacecraft to achieve functional reconstruction across spacecraft of the combination;

[0030] (3) The combined variable configuration spacecraft assembly information management system based on a multi-layer bus proposed in the present invention can adapt to the requirements of the assembly's multi-variable configuration construction, multi-data system and interface matching, and multi-level data interaction, ensuring flexible and reliable data communication between the assembled spacecraft. The combined variable configuration spacecraft assembly direct and indirect autonomous networking method based on bus terminal identification proposed in the present invention can realize the on-orbit autonomous networking and management capabilities of the combined variable configuration spacecraft assembly under different docking interfaces, different types of spacecraft, and different configurations, thereby minimizing the dependence on ground disposal;

[0031] (4) The method for reconfiguring the functions of a combined, variable-configuration spacecraft assembly based on a dynamic management strategy of the bus system working mode proposed in the present invention can realize the dynamic switching and reconstruction of the management functions of the combined, variable-configuration spacecraft assembly between different spacecraft, realize the functional-level reconstruction across spacecrafts for the first time, and increase the reliability and redundancy of the assembly functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a combined, variable-configuration spacecraft assembly information control system based on a multi-layer bus provided for the invention;

[0033] Figure 2 A schematic diagram of a combined variable-configuration spacecraft assembly layer bus provided for the invention;

[0034] Figure 3 A schematic diagram of a direct and indirect autonomous networking method for a combined variable-configuration spacecraft assembly based on bus terminal identification provided by the invention;

[0035] Figure 4 A schematic diagram of a dynamic management strategy for the working mode of a combined variable-configuration spacecraft bus system provided for the invention; DETAILED DESCRIPTION

[0036] A hierarchical combined variable configuration spacecraft information bus control system includes a combination layer bus subsystem, a compartment layer bus subsystem, and a spacecraft subsystem bus subsystem. In order to improve the reliability of the management function of the combined variable configuration spacecraft combination, the combination is equipped with a main control spacecraft and a backup control spacecraft. Normally, the main control spacecraft is responsible for the combination data fusion and combination management. When the control right of the main control spacecraft fails, the combination management function needs to be switched from the main control spacecraft to the backup control spacecraft to realize the functional reconstruction of the combination across spacecrafts, and solve the problem of switching and reconstruction of the combined variable configuration spacecraft combination management function between different spacecrafts.

[0037] In the bus control system, the complex layer bus subsystem provides bus support for data interaction between complexes composed of various spacecraft, performs data conversion and comprehensive management and control on different data systems of various spacecraft, and realizes data communication between spacecraft with different data systems;

[0038] The module-level bus subsystem sets up the module buses inside each spacecraft according to the number and scale of the spacecraft subsystems in the spacecraft complex, receives the communication data converted by the complex-level bus subsystem, and realizes the data communication and control of the internal interruptions of each spacecraft in the module bus;

[0039] The spacecraft subsystem bus subsystem receives the communication data transmitted from the cabin layer bus subsystem according to the number of terminals corresponding to the subsystems in each spacecraft, and realizes data communication and control of all terminals of each spacecraft subsystem within the subsystem bus.

[0040] The combined body layer bus subsystem includes each docked spacecraft and the master control spacecraft. Each spacecraft is equipped with a spacecraft data management device for data system conversion and data information interaction with other heterogeneous spacecraft, and for the management and control of all data information.

[0041] The master control spacecraft adopts a preset 1553B bus topology design to form a combined layer bus. Each layer of the bus supports the on-orbit docking and data control of two spacecraft. The spacecraft data management device of the master control spacecraft processes the grid connection of all combined layer buses and performs overall control of each combined layer bus. The master control spacecraft supports the grid connection control of two heterogeneous spacecraft at the same time. The master control spacecraft includes two control states, namely, the bus terminal resistance control state without docked spacecraft and the corresponding interface control state with docked spacecraft.

[0042] The docked spacecraft, including spacecraft with the same data system as the main control spacecraft and spacecraft with different data system from the main control spacecraft, are all controlled by the main control spacecraft. After docking, the spacecraft with the same data system as the main control spacecraft forms a combination with the main control spacecraft. The data management device of the docked spacecraft is directly connected to the combination layer bus and serves as a bus terminal.

[0043] After docking, a spacecraft with a data system different from that of the main control spacecraft forms an assembly with the main control spacecraft. The data management device of the docked spacecraft is indirectly connected to the assembly layer bus and serves as a bus terminal.

[0044] The data management devices of the spacecraft assembly have one and only one bus address. Through the inspection and identification of the unique bus address of the master control spacecraft assembly, the master control spacecraft can realize autonomous identification and autonomous data control of various types of spacecraft under different spacecraft configurations of the assembly.

[0045] When the master spacecraft and the docked spacecraft are directly or indirectly connected to the grid, the data management device of the master spacecraft monitors the docking marks of each interface on the master spacecraft in real time. The docking marks change between the state of no docked spacecraft and the state of docked spacecraft according to the increase or decrease of the configuration of the combination after docking.

[0046] After the master spacecraft data management device monitors in real time whether the docking standard of any docking interface has changed, it switches the control state of the master spacecraft to the control state of the corresponding interface with the docked spacecraft, and inspects the direct grid-connected bus and indirect grid-connected bus of the current docking interface. It realizes autonomous identification of the newly docked spacecraft through the newly added bus terminal address, and obtains the assembly configuration elements of the newly docked spacecraft, including the docking interface position, docking bus type and level, and spacecraft type.

[0047] When there is a new docked spacecraft, the data management device address of the new docked spacecraft is added as the new bus terminal address under the conditions of direct grid connection and indirect grid connection;

[0048] After realizing autonomous identification of the newly docked spacecraft through the newly added bus terminal address, if the autonomous identification result is that the newly docked spacecraft is directly connected to the master spacecraft through any combination bus, the data management device of the master spacecraft will communicate autonomously with the data management device of the newly docked spacecraft through the current combination bus to realize adaptive networking of the spacecraft combination for the newly docked spacecraft.

[0049] After realizing autonomous identification of the newly docked spacecraft through the newly added bus terminal address, if the autonomous identification result is that the newly docked spacecraft is indirectly connected to the master spacecraft through any combination bus, the data management device of the master spacecraft will autonomously communicate with the data management device of the newly docked spacecraft through the current combination bus and the data conversion device of the master spacecraft, so as to realize adaptive networking of the spacecraft combination for the newly docked spacecraft.

[0050] After the spacecraft assembly completes the adaptive networking of the newly docked spacecraft, the assembly configuration and control state of the spacecraft assembly are determined through the data management device of the master control spacecraft, and the overall data management and control of the spacecraft assembly is realized under the adjusted assembly configuration and control state.

[0051] The spacecraft assembly is controlled through dynamic management strategies to achieve assembly function reconstruction. After any spacecraft docks, the spacecraft assembly is converted from the single-vessel mode of the master spacecraft to the two-vessel combination mode of the master spacecraft and the newly docked spacecraft, completing the dynamic reconstruction of the spacecraft assembly; after the current spacecraft evacuates, the spacecraft assembly switches from the two-vessel combination mode back to the single-vessel mode;

[0052] When the two spacecraft complete docking at the same time, the spacecraft assembly is converted from the single-vessel mode of the master spacecraft to the three-vessel combination mode of the master spacecraft and the newly docked spacecraft, completing the dynamic reconstruction of the spacecraft assembly; when any of the newly docked spacecraft evacuates, the spacecraft assembly is converted from the three-vessel combination mode to the two-vessel combination mode of the master spacecraft and the docked spacecraft that has not evacuated.

[0053] When the data management device of the master spacecraft fails, the working mode of the combination is switched from the three-device combination mode to the master spacecraft safety mode, and the dynamic reconstruction of the master spacecraft to any docked spacecraft is realized through the bus dynamic management strategy; when the data management device of the master spacecraft is restored, the working mode of the combination is switched from the master spacecraft safety mode to the three-device combination mode, and the dynamic reconstruction of any docked spacecraft to the master spacecraft is realized through the bus dynamic management strategy;

[0054] When the data management device of any docked spacecraft fails, the working mode of the combination switches from the three-device combination mode to the docked spacecraft safety mode, and the dynamic reconstruction of any docked spacecraft to the master spacecraft is realized through the bus dynamic management strategy; when the data management device of any docked spacecraft is restored, the working mode of the combination switches from the docked spacecraft safety mode to the three-device combination mode, and the dynamic reconstruction of the docked spacecraft safety mode to the three-device combination mode is realized through the bus dynamic management strategy;

[0055] When the number of docked spacecraft is greater than 2, after any new docked spacecraft docks, the assembly working mode switches from the three-device assembly mode to the next assembly mode. Through the bus dynamic management strategy, the assembly realizes dynamic reconstruction from the three-device assembly mode to the next assembly mode.

[0056] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0057] In the current embodiment, spacecraft 1 is used as the master control spacecraft, spacecraft m and spacecraft n are used as docked spacecraft that can be directly connected to the grid, and spacecraft p is used as a heterogeneous docked spacecraft that is indirectly connected to the grid;

[0058] (I) Design of information management system for combined variable-configuration spacecraft assembly based on multi-layer bus

[0059] Combined variable configuration spacecraft assembly information management system Figure 1 As shown in the figure, the combined variable configuration spacecraft combined body layer bus system is detailed in Figure 2 As shown. This system can support the fusion management of a maximum of 9 spacecraft under variable configuration, including 7 homogeneous spacecraft with the same data system and 2 heterogeneous spacecraft with different data systems, among which spacecraft 1 is the master control spacecraft of the complex. This architecture can implement a multi-layer 1553B bus topology in the master control spacecraft according to the number of spacecraft supported by the complex on orbit and the configuration change mode, and realize the master control spacecraft's ability to support on-orbit data management of combined multi-spacecraft.

[0060] Attached Figure 2 The combined 4-spacecraft assembly multi-layer 1553B bus system formed by the on-orbit assembly of spacecraft 1, spacecraft m, spacecraft n, and spacecraft p is as follows:

[0061] 1) Spacecraft 1: Spacecraft 1 is the master control spacecraft of the combined multi-spacecraft. The master control spacecraft adopts a multi-layer 1553B bus topology. Each layer of the bus supports the docking and data fusion management of two spacecrafts on orbit. The spacecraft 1 assembly-level data management device serves as the controller of the multi-layer bus system, realizing the direct grid-connected buses 1 to 3 of the spacecraft 1 assembly layer, and supports the grid-connection of up to 6 spacecrafts with the same data system. The spacecraft 1 data conversion device serves as the bus controller of the indirect grid-connected bus 1 of the spacecraft 1 assembly layer. Under the control of the spacecraft 1 assembly-level data management device, it supports the indirect grid-connection of up to 2 spacecrafts with different data systems. The bus switching device has two states according to the command control, one state switches to the bus terminal resistance (there is no docked spacecraft at the corresponding docking interface of the master control spacecraft), and the other state switches to the docking interface (there is a docked spacecraft at the corresponding docking interface of the master control spacecraft).

[0062] 2) Spacecraft M: Spacecraft M is a docked spacecraft of the combined multi-spacecraft, and its data system is the same as that of the master control spacecraft. After spacecraft M and spacecraft 1 form a combined multi-spacecraft, the combined body-level data management device of spacecraft M switches to serve as the bus terminal of the combined body layer direct grid-connected bus 1 of spacecraft 1, and the combined multi-spacecraft realizes data fusion management of spacecraft M through spacecraft 1.

[0063] 3) Spacecraft n: Spacecraft n is a docked spacecraft of the combined multi-spacecraft, and its data system is the same as that of the master control spacecraft. After spacecraft n and spacecraft 1 form a combined multi-spacecraft, the combined body-level data management device of spacecraft m switches to serve as the bus terminal of the combined body layer direct grid-connected bus 1 of spacecraft 1, and the combined multi-spacecraft realizes data fusion management of spacecraft n through spacecraft 1.

[0064] 4) Spacecraft P: Spacecraft P is a docked spacecraft of the combined multi-spacecraft, and its data system is different from that of the master control spacecraft. After spacecraft P and spacecraft 1 form a combined multi-spacecraft, the combined body-level data management device of spacecraft P is switched as the bus terminal of the combined body-level indirect grid-connected bus 1 of spacecraft 1, and the data conversion device of spacecraft 1 is used as the bus controller of the combined body-level indirect grid-connected bus 1 of spacecraft 1. The combined multi-spacecraft realizes data fusion management of spacecraft P through spacecraft 1.

[0065] (II) Design of direct and indirect autonomous networking methods for combined variable-configuration spacecraft assemblies based on bus terminal identification

[0066] The present invention uses a method for autonomous identification of bus terminals. Each spacecraft assembly-level data management device has only one bus address. The master control spacecraft assembly-level data management device inspects and identifies the bus address, and the master control spacecraft (spacecraft 1) realizes autonomous identification and autonomous data management of different types of spacecraft under different configuration changes. At the same time, the present invention adopts a multi-spacecraft adaptive networking method based on a combination of direct and indirect bus networking. The master control spacecraft (spacecraft 1) realizes adaptive networking between homogeneous and heterogeneous spacecraft, and supports data fusion management of spacecraft assemblies with different data systems. Figure 3 As shown in the figure, it is a direct and indirect autonomous networking method of a combined variable-configuration spacecraft assembly based on bus terminal identification, which is as follows:

[0067] 1) The spacecraft 1 assembly-level data management device monitors in real time whether the docking mark of each docking port changes. According to the increase or decrease of the assembly configuration, the docking mark changes between "docked spacecraft state" and "non-docked spacecraft state".

[0068] 2) The data management device at the assembly level of spacecraft 1 detects that a certain docking interface changes from the "no docked spacecraft state" to the "docked spacecraft state", and autonomously switches the state of the bus switching device corresponding to the docking interface to the "docked interface state";

[0069] 3) The assembly-level data management device of spacecraft 1 inspects the direct grid-connected bus and the indirect grid-connected bus of the interface, and realizes autonomous identification of the newly docked spacecraft through the newly added bus terminal address (spacecraft n assembly-level data management device or spacecraft p assembly-level data management device), including assembly configuration elements such as the interface position, docking bus type and level, and spacecraft type.

[0070] 4) If it is autonomously identified that spacecraft n is directly connected to the master spacecraft (spacecraft 1) through the spacecraft 1 assembly layer direct grid-connected bus 1 (it may also be other buses, depending on the docking mark of the docking interface), then the spacecraft 1 assembly-level data management device realizes autonomous communication with the spacecraft n assembly-level data management device through the spacecraft 1 assembly layer direct grid-connected bus 1, thereby realizing adaptive networking of the combined multi-spacecraft to spacecraft n.

[0071] 5) If the autonomously identified spacecraft P is indirectly connected to the master spacecraft (spacecraft 1) through the spacecraft 1 data conversion device and the spacecraft 1 assembly-level indirect grid-connected bus 1, the spacecraft 1 assembly-level data management device realizes autonomous communication through the spacecraft 1 assembly-level indirect grid-connected bus 1, the spacecraft 1 data conversion device and the spacecraft p assembly-level data management device, thereby realizing adaptive networking of the combined multi-spacecraft to the spacecraft P.

[0072] 6) The assembly-level data management device of the master control spacecraft (spacecraft 1) sets a new assembly configuration and corresponding working mode, and realizes the data fusion management of each spacecraft in the assembly under the new assembly configuration and working mode.

[0073] 3. Design of functional reconstruction method for combined variable-configuration spacecraft assembly based on dynamic management strategy of bus system working mode

[0074] The present invention proposes a combined variable-configuration spacecraft assembly function reconstruction method based on a bus system working mode dynamic management strategy, such as Figure 4 The figure shows the dynamic management strategy of the combined transformable spacecraft bus system working mode. Appendix 1 is the combination function reconstruction method under each working mode of the combined transformable spacecraft bus system.

[0075] Table 1. Functional reconstruction methods of combined body in each working mode of combined variable configuration spacecraft bus system

[0076]

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] The specific implementation scheme of the combined variable-configuration spacecraft assembly function reconstruction method based on the bus system working mode dynamic management strategy proposed in the present invention is as follows:

[0083] 1) Reconstruction of the single-vessel mode of spacecraft 1: Spacecraft 1 enters the single-vessel working mode of on-orbit flight;

[0084] 2) Reconstruction of the combination mode of spacecraft 1 and spacecraft n: When spacecraft n docks, the combination working mode switches from "spacecraft 1 single-vessel mode" to "spacecraft 1 and spacecraft n two-vessel combination mode". Through the bus terminal dynamic management strategy, the combination realizes the dynamic reconstruction of the system from single-vessel management to two-vessel combination management. When spacecraft n evacuates, the combination working mode switches from the spacecraft 1 and spacecraft n two-vessel combination mode to the spacecraft 1 single-vessel mode. Through the bus terminal dynamic management strategy, the combination realizes the dynamic reconstruction of the system from two-vessel combination management to single-vessel management.

[0085] 3) Reconstruction of the three-vessel combination mode of spacecraft 1 and spacecraft n / m: When spacecraft m docks, the combination working mode switches from the two-vessel combination mode of spacecraft 1 and spacecraft n to the three-vessel combination mode of spacecraft 1 and spacecraft n / m. Through the bus terminal dynamic management strategy, the combination realizes the dynamic reconstruction of the system from the two-vessel combination management to the three-vessel combination management. When spacecraft m evacuates, the combination working mode switches from the three-vessel combination mode of spacecraft 1 and spacecraft n / m to the two-vessel combination mode of spacecraft 1 and spacecraft n. Through the bus terminal dynamic management strategy, the combination realizes the dynamic reconstruction of the system from the three-vessel combination management to the two-vessel management.

[0086] 4) Reconstruction of the safety mode of complex spacecraft 1: When the complex-level data management device of spacecraft 1 fails, the complex master aircraft fails, and the complex working mode switches from the three-vessel complex mode of spacecraft 1 and spacecraft n / m to the safety mode of complex spacecraft 1. Through the bus terminal dynamic management strategy, the dynamic reconstruction of the complex management function from spacecraft 1 to spacecraft n or spacecraft m is realized. When the complex-level data management device of spacecraft 1 is restored, the complex master aircraft is restored, and the complex working mode switches from the safety mode of complex spacecraft 1 to the three-vessel complex mode of spacecraft 1 and spacecraft n / m. Through the bus terminal dynamic management strategy, the dynamic reconstruction of the complex management function from spacecraft n or spacecraft m to spacecraft 1 is realized.

[0087] 5) Reconstruction of the safety mode of the assembly spacecraft n: When the assembly-level data management device of spacecraft n fails, the data management function of spacecraft n fails, and the assembly working mode switches from the three-assembly mode of spacecraft 1 and spacecraft n / m to the safety mode of assembly spacecraft n. Through the bus terminal dynamic management strategy, the dynamic reconstruction of the assembly management function from spacecraft n to spacecraft 1 is realized. When the assembly-level data management device of spacecraft n is restored, the data management function of spacecraft n is restored, and the assembly working mode switches from the safety mode of assembly spacecraft n to the three-assembly mode of spacecraft 1 and spacecraft n / m. Through the bus terminal dynamic management strategy, the system dynamic reconstruction from the safety mode of assembly spacecraft n to the three-assembly management is realized.

[0088] 6) Reconstruction of the next assembly mode: When a new spacecraft docks, the assembly working mode switches from the three-device assembly mode of spacecraft 1 and spacecraft n / m to the next assembly mode. Through the bus terminal dynamic management strategy, the assembly realizes the system dynamic reconstruction from the three-device assembly management to the next assembly mode assembly management.

[0089] The invention discloses a method for autonomous networking and reconstruction of a combined multi-spacecraft assembly, which is applicable to combined, variable-configuration, and on-orbit assembled and constructed combined spacecraft, and relates to a combined variable-configuration spacecraft assembly information management system based on a multi-layer bus and a method for autonomous networking and reconstruction of the assembly based on the information management system. The method can effectively solve the problem of autonomous networking between multiple spacecrafts in different assembly configurations during on-orbit assembly and construction of this type of spacecraft, as well as the problem of functional integration of the new assembly after networking, and realize the system functional reconstruction capability across spacecraft.

[0090] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0091] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A hierarchical combined variable configuration spacecraft information bus control system, characterized by: Including complex layer bus subsystem, compartment layer bus subsystem, and spacecraft subsystem bus subsystem; The complex layer bus subsystem converts and comprehensively manages the different data sent by or to each spacecraft according to the data system of each spacecraft, and provides bus support for data interaction between the complexes composed of various spacecraft to realize data communication between spacecraft with different data systems; The module-level bus subsystem sets up the module buses inside each spacecraft according to the number and scale of the spacecraft subsystems in the spacecraft complex, receives the communication data converted by the complex-level bus subsystem, and realizes the data communication and control of the internal interruptions of each spacecraft in the module bus; The spacecraft subsystem bus subsystem receives the communication data transmitted from the cabin layer bus subsystem according to the number of terminals corresponding to the subsystems in each spacecraft, and realizes data communication and control of all terminals of each spacecraft subsystem within the subsystem bus.

2. The hierarchical combined variable configuration spacecraft information bus control system according to claim 1 is characterized in that: The combined body layer bus subsystem includes each docked spacecraft and a master control spacecraft. Each spacecraft is provided with a spacecraft data management device for data system conversion and data information interaction with other heterogeneous spacecraft, and for managing and controlling all data information; The master control spacecraft adopts a preset 1553B bus topology design to form a combined layer bus. Each layer of the bus supports the on-orbit docking and data control of two spacecraft. The spacecraft data management device of the master control spacecraft processes the grid connection of all combined layer buses and performs overall control of each combined layer bus. The master control spacecraft supports the grid connection control of two heterogeneous spacecraft at the same time. The master control spacecraft includes two control states, namely, the bus terminal resistance control state without docked spacecraft and the corresponding interface control state with docked spacecraft. The docked spacecraft, including spacecraft with the same data system as the main control spacecraft and spacecraft with different data system from the main control spacecraft, are all controlled by the main control spacecraft. After docking, the spacecraft with the same data system as the main control spacecraft forms a combination with the main control spacecraft. The data management device of the docked spacecraft is directly connected to the combination layer bus and serves as a bus terminal. After docking, a spacecraft with a data system different from that of the main control spacecraft forms an assembly with the main control spacecraft. The data management device of the docked spacecraft is indirectly connected to the assembly layer bus and serves as a bus terminal.

3. The hierarchical combined variable configuration spacecraft information bus control system according to claim 2 is characterized in that: The data management devices of the spacecraft assembly have one and only one bus address. Through the inspection and identification of the unique bus address of the master control spacecraft assembly by the master control spacecraft assembly, the master control spacecraft can realize autonomous identification and autonomous data control of various types of spacecraft under different spacecraft configurations of the assembly.

4. The hierarchical combined variable configuration spacecraft information bus control system according to claim 2 is characterized in that: When the master spacecraft and the docked spacecraft are directly or indirectly connected to the grid, the master spacecraft data management device monitors the docking marks of each interface on the master spacecraft in real time. The docking marks change between the state of no docked spacecraft and the state of docked spacecraft according to the increase or decrease of the configuration of the combination after docking.

5. The hierarchical combined variable configuration spacecraft information bus control system according to claim 2 is characterized in that: After the master control spacecraft data management device monitors in real time that the docking standard of any docking interface has changed, it switches the control state of the master control spacecraft to the control state of the corresponding interface with the docked spacecraft, and inspects the direct grid-connected bus and indirect grid-connected bus of the current docking interface, and realizes autonomous identification of the newly docked spacecraft through the newly added bus terminal address, and obtains the assembly configuration elements of the newly docked spacecraft, including the docking interface position, the docking bus type and level, and the spacecraft type.

6. The hierarchical combined variable configuration spacecraft information bus control system according to claim 5 is characterized in that: When there is a new docked spacecraft, the data management device address of the new docked spacecraft is added as the new bus terminal address under the conditions of direct grid connection and indirect grid connection; After realizing autonomous identification of the newly docked spacecraft through the newly added bus terminal address, if the autonomous identification result is that the newly docked spacecraft is directly connected to the master spacecraft through any combination bus, the data management device of the master spacecraft will communicate autonomously with the data management device of the newly docked spacecraft through the current combination bus to realize adaptive networking of the spacecraft combination for the newly docked spacecraft.

7. The hierarchical combined variable configuration spacecraft information bus control system according to claim 6 is characterized in that: After realizing autonomous identification of the newly docked spacecraft through the newly added bus terminal address, if the autonomous identification result is that the newly docked spacecraft is indirectly connected to the master spacecraft through any combination bus, the data management device of the master spacecraft will autonomously communicate with the data management device of the newly docked spacecraft through the current combination bus and the data conversion device of the master spacecraft, so as to realize adaptive networking of the spacecraft combination for the newly docked spacecraft.

8. The hierarchical combination-based variable configuration spacecraft bus control system according to claim 5, characterized in that: After the spacecraft assembly completes the adaptive networking of the newly docked spacecraft, the assembly configuration and control state of the spacecraft assembly are determined through the data management device of the master control spacecraft, and the overall data management and control of the spacecraft assembly is realized under the adjusted assembly configuration and control state.

9. The hierarchical combined variable configuration spacecraft information bus control system according to claim 7, characterized in that: The spacecraft assembly is controlled by a dynamic management strategy to realize assembly function reconstruction. After any spacecraft docks, the spacecraft assembly is converted from a single-machine mode of the master spacecraft to a two-machine combination mode of the master spacecraft and the newly docked spacecraft, completing the dynamic reconstruction of the spacecraft assembly. After the current spacecraft evacuates, the spacecraft assembly is switched from the two-machine combination mode to the single-machine mode again. When the two spacecraft complete docking at the same time, the spacecraft assembly is converted from the single-vessel mode of the master spacecraft to the three-vessel combination mode of the master spacecraft and the newly docked spacecraft, completing the dynamic reconstruction of the spacecraft assembly; when any of the newly docked spacecraft evacuates, the spacecraft assembly is converted from the three-vessel combination mode to the two-vessel combination mode of the master spacecraft and the docked spacecraft that has not evacuated.

10. The hierarchical combined variable configuration spacecraft information bus control system according to claim 9, characterized in that: When the data management device of the master spacecraft fails, the working mode of the combination is switched from the three-device combination mode to the master spacecraft safety mode, and the dynamic reconstruction of the master spacecraft to any docked spacecraft is realized through the bus dynamic management strategy; when the data management device of the master spacecraft is restored, the working mode of the combination is switched from the master spacecraft safety mode to the three-device combination mode, and the dynamic reconstruction of any docked spacecraft to the master spacecraft is realized through the bus dynamic management strategy; When the data management device of any docked spacecraft fails, the working mode of the combination switches from the three-device combination mode to the docked spacecraft safety mode, and the dynamic reconstruction of any docked spacecraft to the master spacecraft is realized through the bus dynamic management strategy; when the data management device of any docked spacecraft is restored, the working mode of the combination switches from the docked spacecraft safety mode to the three-device combination mode, and the dynamic reconstruction of the docked spacecraft safety mode to the three-device combination mode is realized through the bus dynamic management strategy; When the number of docked spacecraft is greater than 2, after any new docked spacecraft docks, the assembly working mode switches from the three-device assembly mode to the next assembly mode. Through the bus dynamic management strategy, the assembly realizes dynamic reconstruction from the three-device assembly mode to the next assembly mode.

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